🐕 Unitree Go1 ROS2 Driver

A ROS2 package which can be used to control the legged robot Unitree Go1 Edu using ROS topics.

This package acts has middleware between ROS2 and unitree_legged_sdk, which enables anyone to control the robot with velocity commands as well as receive back the robot state. Furthermore, additional features are also available such as standing up/down the robot and use head LEDs for some status information.

[!NOTE] Only supports unitree_legged_sdk High level commands

📜 Table of Contents

• ⚙️ Installation
  • 📦 Installation From Source
• 🚀 Usage
• 🤖 ROS Related
  • 📥 Subscribed Topics
  • 📤 Published Topics
  • ⚙️ ROS Parameters
• 🛠️ Features
  • 💡 Robot LED statuses
  • 🪫 Low Battery Protection
  • 🚧 Obstacle Avoidance
• 🔗 Related Packages
• 🔑 License
• 👏 Contributions
• 🎖️ Credits
  • Maintainers
  • Third-party Assets

⚙️ Installation

This package is available in the ROS index for both Iron and Humble distributions.

sudo apt install ros-[distro]-unitree-ros

[!IMPORTANT] If you are using foxy as your ROS distribution, you need to build from source

📦 Installation From Source

[!NOTE] Make sure to clone it recursively, as depends on the unitree_legged_sdk.

mkdir -p ~/unitree_ws/src
cd ~/unitree_ws/src
git clone --recurse-submodules https://github.com/snt-arg/unitree_ros.git

Once you have cloned this repository, you will need to build it using Colcon.

cd ~/unitree_ws
source /opt/ros/[ros-distro]/setup.bash # or zsh if using the zsh shell!
colcon build --symlink-install
source install/setup.bash # or zsh if using the zsh shell!

After having built the workspace, you should now be able to use the driver to control your robot.

🚀 Usage

You can use this driver wired or with a Wi-Fi connection. By default, it is set to use the wired connection.

To launch the driver, you can use the launch file available. For a wired connection use the following command:

ros2 launch unitree_ros unitree_driver_launch.py

For a Wi-Fi connection use the following command:

ros2 launch unitree_ros unitree_driver_launch.py wifi:=true

In case you prefer to modify more parameters, you can do so by passing the parameters file. The default parameters can be found in config/params.yaml or here.

ros2 launch unitree_ros unitree_driver_launch.py params_file:="path_to_your_params_file" #wifi:=true/false

🤖 ROS Related

File truncated at 100 lines see the full file

Changelog for package unitree_ros

1.2.0 (2024-07-23)

• Merge pull request #30 from snt-arg/feat/pub_joint_states Feature: Publish Joint states of robot (#24)
• fix: joint indexes
• feat(config): add default topic name for joint states
• feat(driver): create function to retrive motor states
• feat: create serializer function to create join_state msg
• feat: create publisher for joint_state
• feat(ci): add a specific container image to each ci
• fix(ci/jazzy): add container with ubuntu noble
• docs: update location of build status
• chore(ci/jazzy): use relative version
• fix(ci/jazzy): use ros2-testing
• fix(ci/jazzy): remove v from the ros-setup action version
• fix(ci): bump setup-ros action to 0.7.7 which fixes a bug
• chore(ci): update workflow names and remove tests
• feat(ci): include ci for ros jazzy
• chore(ci): rename workflows
• chore(ci): upgrade to ros-tooling actions
• chore(ci): bump checkout actions to v4 and fix setup-ros distributions
• chore(ci): make use of ros-tooling
• docs: update usage section
• chore: add copyright notice to all source files
• Merge pull request #28 from snt-arg/PedroS235-patch-1 docs: remove foxy from being shown in status
• docs: remove foxy from being shown in status
• fix(docker): add missing dependency to be installed (#23)
• Update issue and feature templates
• docs: update title
• docs: add missing > to the important alert
• docs: update usage instructions
• chore: update image
• Contributors: Pedro Soares

1.1.1 (2024-04-25)

• Merge pull request #22 from snt-arg/dev fix: import error (#21)
• fix: import error (#21) This commit fixes issue (#21) and changes the way we use the launch file. Now we only need use wifi:=true instead of passing the robot ip.
• chore: update gitignore to conform ros2 development
• Merge pull request #20 from snt-arg/PedroS235-patch-1 docs: update installation with apt
• docs: update installation with apt
• Contributors: Pedro Soares

1.1.0 (2024-03-25)

• fix: only make foxy CI run on the foxy branch
• chore: merge changes made in foxy branch
• build: fix deprecation warning
• build: add boost build dependency
• build: add missing depdendencies for tf2 in package.xml
• chore: change submodule url to https
• Merge pull request #19 from snt-arg/PedroS235-patch-3 docs: fix some miscellaneous typos
• docs: fix some miscellaneous typos
• Update README.md
• Merge pull request #18 from snt-arg/PedroS235-patch-2 chore: update license to GPL
• chore: update license to GPL
• Merge pull request #17 from snt-arg/feature/license [Misc] Update license to GPLv3
• [Misc] Update license to GPLv3
• Merge pull request #16 from snt-arg/PedroS235-patch-1 docs(fix): specify the unitree go1 edu version
• docs(fix): specify the unitree go1 edu version
• Update README.md
• Contributors: Hriday Bavle, Pedro Soares

1.0.0 (2024-02-08)

• Update README.md
• fix(docs): TOC
• feat(docs): add emojis
• refactor(docs): clean description
• fix(docs): change info alert to note
• feat(docs): make documentation up to date
  • Improve description

File truncated at 100 lines see the full file